From ec7e66f2738f95171aefdb475eb3f269955abb77 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 14 Aug 2015 01:39:21 +0000 Subject: [PATCH] razor: new magnetometer calibration --- cfg/razor.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/cfg/razor.yaml b/cfg/razor.yaml index 9bcfeed..20bffbc 100644 --- a/cfg/razor.yaml +++ b/cfg/razor.yaml @@ -23,11 +23,11 @@ magn_z_max: 596 # extended calibration calibration_magn_use_extended: true -magn_ellipsoid_center: [45.6927, 172.209, 376.478] -magn_ellipsoid_transform: [[0.994730, 0.00431208, -0.0112894], [0.00431208, 0.981610, 0.00532676], [-0.0112894, 0.00532676, 0.974786]] +magn_ellipsoid_center: [-32.6801, 82.7799, 142.354] +magn_ellipsoid_transform: [[0.993252, 0.00616743, -0.00945049], [0.00616743, 0.990730, -0.000356148], [-0.00945049, -0.000356148, 0.964502]] # AHRS to robot calibration -imu_yaw_calibration: 0.0 +imu_yaw_calibration: 180.0 ### gyroscope gyro_average_offset_x: -29.0 -- 2.39.5